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Vermelding onderdeel organisatie
ARTIFICIALMECHANICAL SYSTEMS
for theUPPER EXTREMITY
DICK H. PLETTENBURG
BIOMECHATRONICS WB2432
2007-03-07 STATE OF THE ART IN UE PROSTHETICS
2007-03-14 CONTROL
2007-03-21 ACTUATION
2007-03-07 STATE OF THE ART IN UE PROSTHETICS
2007-03-14 CONTROL
2007-03-21 ACTUATION
Vermelding onderdeel organisatie
ACTUATIONOF
UPPER EXTREMITYPROSTHETICS
PROSTHESESPROSTHESESCONTROL
ALWAYS BY THE BODY
MECHANICAL
ELECTRICAL
POWERFROM THE BODY
EXTERNALLY
BODY POWERBODY POWER
STRAPSSTRAPS
STRAPSSTRAPS
1
2F
F1
R
F2
F2
1F
R
F
STRAPSSTRAPS
STRAPSSTRAPS
STRAPSSTRAPS
ELBOW CONTROLELBOW CONTROL
CLOSING SPRING
HAND OPENS
CONTROLSHELL UPPER ARM
OPERATING CABLE
THUMB HAND CLOSES
ELBOW CONTROLELBOW CONTROL
CINEPLASTY: GIULIANO VANGHETTI 1898CINEPLASTY: GIULIANO VANGHETTI 1898
CINEPLASTY: GIULIANO VANGHETTICINEPLASTY: GIULIANO VANGHETTI
Weir, 1998
CINEPLASTY: FERDINAND SAUERBRUCH 1915CINEPLASTY: FERDINAND SAUERBRUCH 1915
Klopsteg & Wilson, 1954
CINEPLASTY: FERDINAND SAUERBRUCHCINEPLASTY: FERDINAND SAUERBRUCH
Klopsteg & Wilson, 1954
EXTERNAL POWEREXTERNAL POWER
ELECTRICALELECTRICAL
Borchardt et.al., 1919
ELECTRICAL: REITER 1948ELECTRICAL: REITER 1948
Childress & Billock, 1970
ELECTRICALELECTRICAL
Otto Bock
ELECTRICALELECTRICAL
Steeper
ELECTRICALELECTRICAL
DISADVANTAGES:
• HIGH MASS
ELECTRICALELECTRICAL
DISADVANTAGES:
• HIGH MASS
• LOW SPEED
• VULNERABLE
• SIZE
ELECTRICALELECTRICAL
Steeper
HYDRAULICALHYDRAULICAL
ADVANTAGES:
DISADVANTAGES:
• GOOD CONTROL
• FAST
• QUIET
• NO LOCKING DEVICES NEEDED
• HIGH TOTAL MASS
• LEAKAGE
• ENERGY STORAGE
PNEUMATICALPNEUMATICAL
ADVANTAGES:
• LOW MASS
• HIGH SPEED
• RELIABLE
• SMALL
PNEUMATICAL: DALISH 1877PNEUMATICAL: DALISH 1877
Dalish, 1877
PNEUMATICAL: ANONYMOUSPNEUMATICAL: ANONYMOUS
Borchardt et.al., 1919
PNEUMATICAL: HEIDELBERG 1949+PNEUMATICAL: HEIDELBERG 1949+
Lucaccini, 1967
THALIDOMIDE
Issued in 1956 by Chemie Grünenthalto fight nausea and sleeping problems in pregnant women.
PNEUMATICAL: EDINBURGH 1963+PNEUMATICAL: EDINBURGH 1963+
Baumgartner, 1977
PNEUMATICAL: Limb Fitting Centre at Queen Mary's Hospital, Roehampton, London, 1964PNEUMATICAL: Limb Fitting Centre at Queen Mary's Hospital, Roehampton, London, 1964
Steeper, 1964
PNEUMATICALPNEUMATICAL
DISADVANTAGES:
• HIGH OVERALL MASS
• UNRELIABLE
• HIGH GAS CONSUMPTION
• CUMBERSOME REFILL PROCEDURE
PNEUMATICALPNEUMATICAL
PNEUMATICALPNEUMATICAL
RE-ASSESSMENT PNEUMATIC ACTUATION:• LIGHT?• FAST?• RELIABLE?• SMALL?
PNEUMATICALPNEUMATICAL
INPUT ENERGY [Nm]
OUTPUT ENERGY [Nm]
EFFICIENCY (%)
WILMER08-06
STEEPERMH 60
OTTO BOCK8K8
0
0.2
0.4
0.6
0.8
1.0
1.2
0
1.2
1.0
0.8
0.6
0.4
0.2
10
20
30
40
50
60
0
1.4
1.4
70
Ereq = 750 Nmm
PNEUMATICALPNEUMATICAL
m = 37.5 g
PNEUMATICALPNEUMATICAL
Ø9.
0
Ø9.
5
12.0
Ø8.
0
10.0
7.9
9.5
Ø6.
0
2.25
2.0
Ø10
.0
m = 1.2 g
PNEUMATICALPNEUMATICAL
• MINIMIZE GAS CONSUMPTION BY
• SYSTEM CHOICE
• REDUCTION OF FRICTION LOSSES
• REDUCTION OF DEAD SPACE
• SUPPLY PRESSURE
• PROTOTYPES
PNEUMATICALPNEUMATICAL
‘BI-PHASIC’ OPERATIONpinching motorpinching spring
closing springprehension motor
locking mechanism
PNEUMATICALPNEUMATICAL
L
d
x max
x
ps
SUPPLY PRESSURE
PNEUMATICALPNEUMATICAL
0
2
4
6
8
10
12
14
16
18
20
0 1 2 3
supply pressure [MPa]ga
s co
nsum
ptio
n [mg]
Ps, opt = 1.2 MPa
Independent of:Δt, L, Fs, and x
PNEUMATICALPNEUMATICAL
PNEUMATICALPNEUMATICAL
PNEUMATICALPNEUMATICAL
Δpcontrol
Δpcontrol
patm patm patm
phand mechanism
psupply
I II III IV
p
controlΔp
patm
supply
hand mechanismp
psupply
hand mechanism
atmppatm
p
Δpcontrol
a
b
c
Pneumatic relay:
- Ø 3.5 x 8.15 mm
- ΔP = 0.4 MPa
- Q = 74.2 ltr/hr
- m = 0.66 g
PNEUMATICALPNEUMATICAL
PNEUMATICALPNEUMATICAL
Pneumatic switch:
- Ø 3.0 x 4.3 mm
- F = 0.6 N
- Q = 97.0 ltr/hr
- m = 0.19 g
PNEUMATICALPNEUMATICAL
PNEUMATICALPNEUMATICAL
Check valve:
- Ø 1.5 x 2.8 mm
- ΔP = 0.48 kPa
- Q ≥ 120.0 ltr/hr
- m = 0.05 g
PNEUMATICALPNEUMATICAL
PNEUMATICALPNEUMATICAL
PNEUMATICALPNEUMATICAL
PNEUMATICALPNEUMATICAL
PNEUMATIC ACTUATION EXCELS ELECTRICAL ACTUATION:
• LOW IN MASS• FAST• RELIABLE
• SMALL
McKIBBEN-MUSCLE
Carlson, 1971
McKIBBEN-MUSCLE
Shadow, UK
McKIBBEN-MUSCLE
Univ. of Washington, USA
McKIBBEN-MUSCLE
Shadow, UK
McKIBBEN-MUSCLE
McKIBBEN-MUSCLE
McKIBBEN MUSCLE / PNEUMATIC ARTIFICIAL MUSCLE
KEY ADVANTAGE:
• LOW MASS COMPARED TO MUSCLE STRENGTH
• HIGH FORCE TO WEIGHT RATIO
• HIGH POWER TO WEIGHT RATIO
• ETC.
McKIBBEN-MUSCLE / PNEUMATIC ARTIFICIAL MUSCLE
CLAIMED ADVANTAGES:
• LOW MASS
• HIGH POWER-TO-WEIGHT RATIO
DISADVANTAGES:
• LOW PRESSURE
• UV-SENSITIVE
?
Festo AG
FESTO ADVC-25FESTO MAS-10 FESTO DSN-25
Dsi
DsoDc dido
δx
Dgo Dp Di
Do
1.1ds+0.5
Dgi
1.1ds
WILMER 21xS
PNEUMATIC ARTIFICIAL MUSCLES
Output energy to mass ratio:
( ) ⋅= ∫ F s ds
EtMm
EtM = energy to mass ratio [Nm/kg]F(s) = ouput force as a function of the stroke [N]s = stroke [m]m = muscle mass [kg]
PNEUMATIC ARTIFICIAL MUSCLES
1
10
100
1000
10000
0,001 0,01 0,1 1Stroke [m]
Ener
gy to
Mas
s R
atio
[Nm
/kg]
MAS-10, p = 0.8ADVC-25DSN-25WILMER 21xs, t = 0.25
PNEUMATIC ARTIFICIAL MUSCLES
0
500
1000
1500
2000
2500
3000
Ene
rgy
to M
ass
Rat
io L
imit
[Nm
/kg]
MAS-10 WILMER ADVC-25 DSN-25
PNEUMATIC ARTIFICIAL MUSCLES
Output energy to volume ratio:
( ) ⋅= ∫ F s ds
EtVV
EtV = energy to mass ratio [Nm/kg]F(s) = ouput force as a function of the stroke [N]s = stroke [m]V = muscle volume [m3]
PNEUMATIC ARTIFICIAL MUSCLES
0
0,2
0,4
0,6
0,8
1
1,2
0,001 0,01 0,1 1
Stroke [m]
Ener
gy to
Vol
ume
Rat
io [N
/m2 ]
MAS-10, p = 0.8
ADVC-25
DSN-25
WILMER 21xs, t = 0.25
PNEUMATIC ARTIFICIAL MUSCLES
0
0,2
0,4
0,6
0,8
1
1,2
0,001 0,01 0,1 1
Stroke [m]
Ener
gy to
Vol
ume
Rat
io [N
/m2 ]
MAS-10, p = 0.8
ADVC-25
DSN-25
WILMER 21xs, t = 0.25
0
0.2
0.4
0.6
0.8
1
1.2
Ener
gy to
Vol
ume
Ratio
Li
mit
MAS-10 WILMER ADVC-25 DSN-25
PNEUMATIC ARTIFICIAL MUSCLES
Festo DMSP
Festo MAS
PNEUMATIC ARTIFICIAL MUSCLES
Festo DMSP
Festo MAS
Basic mass difference Δm = 20 g
CONCLUSIONS:
(EtM)PAM > (EtM)Standard Industrial Actuators
(EtV)PAM < (EtV)Standard Industrial Actuators
REDESIGN OF CYLINDER ACTUATORS:
EtM: 5 – 30 x (EtM)PAM
EtV > 3 – 13.5 x (EtV)PAM
DO NOT USE PAM WHERE EtMAND/OR EtV IS CRITICAL
PNEUMATIC ARTIFICIAL MUSCLES
SUMMARYSUMMARY
• CONTROL vs ACTUATION
• BODY POWER
• SHOULDER HARNESS
• ELBOW CONTROL
• EXTERNAL POWER
• ELECTRICAL
• HYDRAULICAL
• PNEUMATICAL
SUMMARY [cont.]SUMMARY [cont.]
• PNEUMATIC ACTUATION EXCELS ELECTRICAL ACTUATION:
• LOW IN MASS• FAST• RELIABLE• SMALL
• DO NOT USE PAM WHERE EtM AND/OR EtV IS CRITICAL
CHALLENGES IN PNEUMATICS:
Miniature and energy efficient pneumatical systems
Research at the Delft Institute of Pneumatics:
• Miniature components
• [Energy efficient] pressure supply
• Miniature servo mechanisms
Pneumatics
- miniature components
Pneumatics
- miniature components
Pressure regulation in the human eye[treatment of glaucoma]
Project in co-operation with
&Rotterdam Eye Hospital
Pneumatics
- supply pressure level
Pneumatics
- exergy saving
Pneumatics
- servo mechanism
[Dario, 2004] [DeLuca, 1978]
[www.icube.co.uk]
[Fraunhofer Institue für Biomedizinische Technik]